The Queen, US President Barack Obama and Vladimir Putin gathered at Bayeux before travelling to Sword Beach, one of the five beaches stormed by Allied troops on June 6, 1944.

Earlier Majesty laid a wreath at a veterans' service while Mr Obama said his nation's commitment to liberty and freedom was "written in blood" on France's beaches.

French president Francois Hollande said the D-Day landings "changed the world"

"This day, which began in chaos and fire, would end in blood and tears, tears and pain, tears and joy at the end of 24 hours that changed the world and forever marked Normandy," he told the assembled audience.

Mr Obama said: "America's claim - our commitment to liberty, to equality, to freedom, to the inherent dignity of every human being - that claim is written in blood on these beaches, and it will endure for eternity".

There will be a re-enactment of the amphibious landings which were a key turning point in the war against Nazi Germany.

By establishing a foothold in France the Allies were able to turn the tide in Europe and ultimately defeat Hitler and his evil regime.

HEROES: Veterans gather on on Omaha Beach [AP]

VETERANS: Normandy veterans arrive at Bayeux Cathedral for a commemorative service [PA]

HOW IT WAS DONE: This graphic shows the areas captured by the Allies on D-Day [AP]

LEADER: David Cameron and his wife Samantha arrive for the service [PA]

“This immense and heroic endeavour brought the end of the Second World War within reach”

The Queen

The day's events began at midnight with a sombre vigil at Pegasus Bridge near Ouistreham.

Prince Charles and the Duchess of Cornwall are attending a Royal British legion service at Bayeux Cathedral.

Other guests include David Cameron, his wife Samantha, Nick Clegg and Ed Miliband.

In a message in the official D-Day brochure, the Queen said: "I am very pleased to be able to join veterans here in Normandy to mark the 70th anniversary of the D-Day landings.

TOAST: The Prince of Wales raises his glass to D-Day veterans [PA]

TRIBUTE: Fireworks are launched to mark the moment Pegasus Bridge was captured by British troops [PA]

TURNING POINT: The D-Day landings were one of the most significant moments of the Second World War [AP]

TRIBUTE: The D-Day landings helped turn the tide in the war against the Axis [GETTY]

"On June 6 1944 after months of planning and training, the largest amphibious assault in history was launched to secure freedom in Europe.

"Hundreds of thousands of servicemen made the journey across the Channel by sea and air, and through their brave actions and dogged determination, established a vital foothold in occupied Europe.

"This immense and heroic endeavour brought the end of the Second World War within reach.

"I am sure that these commemorations will provide veterans of the conflict and their families gathered here in France, along with their hosts, the people of Normandy, with an opportunity to reflect on their experiences and the incredible sacrifices that were made."

SPEECH: Barack Obama gave a very moving speech at the Normandy American Cemetery [AP]

CAPTURED: To secure the beaches thousands of allied troops stormed five beaches in northern France [GETTY]